Underactuated gripper design for the assembly of infrastructure in space

This paper presents the development of a concept for an adjusted self-adaptive gripper for variable manipulation tasks. Its specifications are derived from the assembly and installation of infrastructure for space applications by humans and robots working either autonomously or in collaboration. One of the core topics of the paper is the development of the kinematic for an under actuated finger, based on previous works on the selfadaptive SAmPlInG gripper system [1]. Furthermore, a suitable sensor selection for the manipulation tasks as well as their integration is presented.